Motor system

Abstract

The present invention provides a motor system that allows the driving force of one motor to be appropriately supplemented by the driving force of the other motor. [Solution] The motor system is a system for assisting the driving of a human-powered vehicle, which includes wheels and an input unit to which human-powered torque for driving the wheels is input, and comprises a main motor for driving the wheels, an auxiliary motor for assisting the driving of the main motor, and a motor control device for torque-controlling the main motor and the auxiliary motor. The motor control device calculates a command torque for the main motor based on the human-powered torque, torque-controls the main motor to generate the command torque, and torque-controls the auxiliary motor based on the driving information of the main motor.

Claims

1. In a motor system that assists the driving of a human-powered vehicle comprising wheels and an input unit to which human-powered torque for driving the wheels is input, The main motor that drives the aforementioned wheels, An auxiliary motor to assist in driving the main motor, The system includes a motor control device that torque-controls the main motor and the auxiliary motor, The motor control device is Based on the aforementioned manual torque, the command torque of the main motor is calculated. The main motor is torque-controlled to generate the commanded torque. A motor system characterized by controlling the torque of the auxiliary motor based on the drive information of the main motor.

2. In the motor system according to claim 1, The motor control device is The actual torque generated by the main motor, which is torque-controlled by the commanded torque, is estimated based on the drive information. A motor system characterized by torque control of the auxiliary motor so as to generate a differential torque which is the difference between the commanded torque and the actual torque.

3. In the motor system according to claim 2, The motor system is characterized in that the drive information includes at least the motor speed of the main motor and the time ratio for which voltage is applied to the main motor.

4. In the motor system according to claim 3, The motor system is characterized in that the drive information further includes at least one of the output voltage output from the battery and the motor temperature of the main motor.

5. In the motor system according to claim 1, The main motor drives one of the front wheels and the rear wheels of the human-powered vehicle. The motor system is characterized in that the auxiliary motor drives the other of the front wheel and the rear wheel.

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